Kevin Smith

Yewon Lee, Andrew Z. Li, Philip Huang et al. · mit

Planning for sequential robotics tasks often requires integrated symbolic and geometric reasoning. TAMP algorithms typically solve these problems by performing a tree search over high-level task sequences while checking for kinematic and dynamic feasibility. This can be inefficient because, typically, candidate task plans resulting from the tree search ignore geometric information. This often leads to motion planning failures that require expensive backtracking steps to find alternative task plans. We propose a novel approach to TAMP called Stein Task and Motion Planning (STAMP) that relaxes the hybrid optimization problem into a continuous domain. This allows us to leverage gradients from differentiable physics simulation to fully optimize discrete and continuous plan parameters for TAMP. In particular, we solve the optimization problem using a gradient-based variational inference algorithm called Stein Variational Gradient Descent. This allows us to find a distribution of solutions within a single optimization run. Furthermore, we use an off-the-shelf differentiable physics simulator that is parallelized on the GPU to run parallelized inference over diverse plan parameters. We demonstrate our method on a variety of problems and show that it can find multiple diverse plans in a single optimization run while also being significantly faster than existing approaches.

Johan Fredin Haslum, Christos Matsoukas, Karl-Johan Leuchowius et al.

High Content Imaging (HCI) plays a vital role in modern drug discovery and development pipelines, facilitating various stages from hit identification to candidate drug characterization. Applying machine learning models to these datasets can prove challenging as they typically consist of multiple batches, affected by experimental variation, especially if different imaging equipment have been used. Moreover, as new data arrive, it is preferable that they are analyzed in an online fashion. To overcome this, we propose CODA, an online self-supervised domain adaptation approach. CODA divides the classifier's role into a generic feature extractor and a task-specific model. We adapt the feature extractor's weights to the new domain using cross-batch self-supervision while keeping the task-specific model unchanged. Our results demonstrate that this strategy significantly reduces the generalization gap, achieving up to a 300% improvement when applied to data from different labs utilizing different microscopes. CODA can be applied to new, unlabeled out-of-domain data sources of different sizes, from a single plate to multiple experimental batches.

Anoop Cherian, Kuan-Chuan Peng, Suhas Lohit et al.

Recent years have seen a significant progress in the general-purpose problem solving abilities of large vision and language models (LVLMs), such as ChatGPT, Gemini, etc.; some of these breakthroughs even seem to enable AI models to outperform human abilities in varied tasks that demand higher-order cognitive skills. Are the current large AI models indeed capable of generalized problem solving as humans do? A systematic analysis of AI capabilities for joint vision and text reasoning, however, is missing in the current scientific literature. In this paper, we make an effort towards filling this gap, by evaluating state-of-the-art LVLMs on their mathematical and algorithmic reasoning abilities using visuo-linguistic problems from children's Olympiads. Specifically, we consider problems from the Mathematical Kangaroo (MK) Olympiad, which is a popular international competition targeted at children from grades 1-12, that tests children's deeper mathematical abilities using puzzles that are appropriately gauged to their age and skills. Using the puzzles from MK, we created a dataset, dubbed SMART-840, consisting of 840 problems from years 2020-2024. With our dataset, we analyze LVLMs power on mathematical reasoning; their responses on our puzzles offer a direct way to compare against that of children. Our results show that modern LVLMs do demonstrate increasingly powerful reasoning skills in solving problems for higher grades, but lack the foundations to correctly answer problems designed for younger children. Further analysis shows that there is no significant correlation between the reasoning capabilities of AI models and that of young children, and their capabilities appear to be based on a different type of reasoning than the cumulative knowledge that underlies children's mathematics and logic skills.

Christos Matsoukas, Johan Fredin Haslum, Magnus Söderberg et al.

Convolutional Neural Networks (CNNs) have reigned for a decade as the de facto approach to automated medical image diagnosis. Recently, vision transformers (ViTs) have appeared as a competitive alternative to CNNs, yielding similar levels of performance while possessing several interesting properties that could prove beneficial for medical imaging tasks. In this work, we explore whether it is time to move to transformer-based models or if we should keep working with CNNs - can we trivially switch to transformers? If so, what are the advantages and drawbacks of switching to ViTs for medical image diagnosis? We consider these questions in a series of experiments on three mainstream medical image datasets. Our findings show that, while CNNs perform better when trained from scratch, off-the-shelf vision transformers using default hyperparameters are on par with CNNs when pretrained on ImageNet, and outperform their CNN counterparts when pretrained using self-supervision.

Christos Matsoukas, Albert Bou I Hernandez, Yue Liu et al.

Evidence suggests that networks trained on large datasets generalize well not solely because of the numerous training examples, but also class diversity which encourages learning of enriched features. This raises the question of whether this remains true when data is scarce - is there an advantage to learning with additional labels in low-data regimes? In this work, we consider a task that requires difficult-to-obtain expert annotations: tumor segmentation in mammography images. We show that, in low-data settings, performance can be improved by complementing the expert annotations with seemingly uninformative labels from non-expert annotators, turning the task into a multi-class problem. We reveal that these gains increase when less expert data is available, and uncover several interesting properties through further studies. We demonstrate our findings on CSAW-S, a new dataset that we introduce here, and confirm them on two public datasets.

Yue Liu, Hossein Azizpour, Fredrik Strand et al.

The ability to accurately estimate risk of developing breast cancer would be invaluable for clinical decision-making. One promising new approach is to integrate image-based risk models based on deep neural networks. However, one must take care when using such models, as selection of training data influences the patterns the network will learn to identify. With this in mind, we trained networks using three different criteria to select the positive training data (i.e. images from patients that will develop cancer): an inherent risk model trained on images with no visible signs of cancer, a cancer signs model trained on images containing cancer or early signs of cancer, and a conflated model trained on all images from patients with a cancer diagnosis. We find that these three models learn distinctive features that focus on different patterns, which translates to contrasts in performance. Short-term risk is best estimated by the cancer signs model, whilst long-term risk is best estimated by the inherent risk model. Carelessly training with all images conflates inherent risk with early cancer signs, and yields sub-optimal estimates in both regimes. As a consequence, conflated models may lead physicians to recommend preventative action when early cancer signs are already visible.

Federico Baldassarre, Kevin Smith, Josephine Sullivan et al.

Visual relationship detection is fundamental for holistic image understanding. However, the localization and classification of (subject, predicate, object) triplets remain challenging tasks, due to the combinatorial explosion of possible relationships, their long-tailed distribution in natural images, and an expensive annotation process. This paper introduces a novel weakly-supervised method for visual relationship detection that relies on minimal image-level predicate labels. A graph neural network is trained to classify predicates in images from a graph representation of detected objects, implicitly encoding an inductive bias for pairwise relations. We then frame relationship detection as the explanation of such a predicate classifier, i.e. we obtain a complete relation by recovering the subject and object of a predicted predicate. We present results comparable to recent fully- and weakly-supervised methods on three diverse and challenging datasets: HICO-DET for human-object interaction, Visual Relationship Detection for generic object-to-object relations, and UnRel for unusual triplets; demonstrating robustness to non-comprehensive annotations and good few-shot generalization.

Emir Konuk, Kevin Smith

In this preregistration submission, we propose an empirical study of how networks handle changes in complexity of the data. We investigate the effect of network capacity on generalization performance in the face of increasing data complexity. For this, we measure the generalization error for an image classification task where the number of classes steadily increases. We compare a number of modern architectures at different scales in this setting. The methodology, setup, and hypotheses described in this proposal were evaluated by peer review before experiments were conducted.

Mattias Teye, Hossein Azizpour, Kevin Smith

We show that training a deep network using batch normalization is equivalent to approximate inference in Bayesian models. We further demonstrate that this finding allows us to make meaningful estimates of the model uncertainty using conventional architectures, without modifications to the network or the training procedure. Our approach is thoroughly validated by measuring the quality of uncertainty in a series of empirical experiments on different tasks. It outperforms baselines with strong statistical significance, and displays competitive performance with recent Bayesian approaches.